Add state_representation::Parameters to clproto

protocol/clproto_cpp/CMakeLists.txt

@@ -19,16 +19,16 @@ else()
 endif()
 
 set(PROTOBUF_DIR ${PROJECT_SOURCE_DIR}/../protobuf)
-set(PROTOBUF_BINDINGDS_DIR ${PROTOBUF_DIR}/bindings/cpp)
+set(PROTOBUF_BINDINGS_DIR ${PROTOBUF_DIR}/bindings/cpp)
 
 add_custom_target(generate_proto_bindings COMMAND make cpp_bindings
     WORKING_DIRECTORY ${PROTOBUF_DIR}
 )
 
-file(GLOB_RECURSE GENERATED_PROTO_BINDINGS "${PROTOBUF_BINDINGDS_DIR}/*.pb.cc" "${PROTOBUF_BINDINGDS_DIR}/*.pb.h")
+file(GLOB_RECURSE GENERATED_PROTO_BINDINGS "${PROTOBUF_BINDINGS_DIR}/*.pb.cc" "${PROTOBUF_BINDINGS_DIR}/*.pb.h")
 
 add_library(${PROJECT_NAME}_bindings STATIC ${GENERATED_PROTO_BINDINGS})
-target_include_directories(${PROJECT_NAME}_bindings PUBLIC ${PROTOBUF_BINDINGDS_DIR})
+target_include_directories(${PROJECT_NAME}_bindings PUBLIC ${PROTOBUF_BINDINGS_DIR})
 set_property(TARGET ${PROJECT_NAME}_bindings PROPERTY POSITION_INDEPENDENT_CODE ON)
 
 add_library(${PROJECT_NAME} SHARED

protocol/clproto_cpp/include/clproto.h

@@ -5,11 +5,25 @@
 
 namespace clproto {
 
+/**
+ * @class DecodingException
+ * @brief A DedocdingException is raised whenever a
+ * decoding operation fails due to invalid encoding.
+ */
 class DecodingException : public std::runtime_error {
 public:
   explicit DecodingException(const std::string& msg);
 };
 
+/**
+ * @enum MessageType
+ * @brief The MessageType enumeration contains the possible
+ * message types in the clproto.
+ * @details The values and order of this enumeration
+ * are synchronized with the fields of the protobuf
+ * StateMessage type, allowing a one-to-one mapping
+ * to the StateMessage type case.
+ */
 enum MessageType {
   UNKNOWN_MESSAGE = 0,
   STATE_MESSAGE = 1,
@@ -27,6 +41,28 @@ enum MessageType {
   JOINT_TORQUES_MESSAGE = 13,
   SHAPE_MESSAGE = 14,
   ELLIPSOID_MESSAGE = 15,
+  PARAMETER_MESSAGE = 16
+};
+
+/**
+ * @enum ParameterMessageType
+ * @brief The ParameterMessageType enumeration contains the
+ * possible value types contained in a parameter message.
+ * @details The values and order of this enumeration
+ * are synchronized with the fields of the protobuf
+ * ParameterValue type, allowing a one-to-one mapping
+ * to the ParameterValue type case.
+ */
+enum ParameterMessageType {
+  UNKNOWN_PARAMETER = 0,
+  DOUBLE = 1,
+  DOUBLE_ARRAY = 2,
+  BOOL = 3,
+  BOOL_ARRAY = 4,
+  STRING = 5,
+  STRING_ARRAY = 6,
+  MATRIX = 7,
+  VECTOR = 8
 };
 
 /**
@@ -45,14 +81,23 @@ bool is_valid(const std::string& msg);
  */
 MessageType check_message_type(const std::string& msg);
 
+/**
+ * @brief Check which control libraries parameter type a
+ * serialized binary string can be decoded as, if at all.
+ * @param msg The serialized binary string to check
+ * @return The ParameterMessageType of the contained type or UNKNOWN
+ */
+ParameterMessageType check_parameter_message_type(const std::string& msg);
+
 /**
  * @brief Encode a control libraries object into
  * a serialized binary string representation (wire format).
  * @tparam T The provided control libraries object type
  * @param obj The control libraries object to encode
  * @return The serialized binary string encoding
  */
-template<typename T> std::string encode(const T& obj);
+template<typename T>
+std::string encode(const T& obj);
 
 /**
  * @brief Decode a serialized binary string from
@@ -63,7 +108,8 @@ template<typename T> std::string encode(const T& obj);
  * @param msg The serialized binary string to decode
  * @return A new instance of the control libraries object
  */
-template<typename T> T decode(const std::string& msg);
+template<typename T>
+T decode(const std::string& msg);
 
 /**
  * @brief Exception safe decoding of a serialized binary string
@@ -75,6 +121,7 @@ template<typename T> T decode(const std::string& msg);
  * @param obj A reference to a control libraries object
  * @return A success status boolean
  */
-template<typename T> bool decode(const std::string& msg, T& obj);
+template<typename T>
+bool decode(const std::string& msg, T& obj);
 
 }

protocol/clproto_cpp/include/clproto/decoders.h

@@ -1,5 +1,9 @@
 #pragma once
 
+#include <google/protobuf/repeated_field.h>
+#include <state_representation/parameters/Parameter.hpp>
+#include <state_representation/parameters/parameter.pb.h>
+
 #include "clproto.h"
 
 namespace clproto {
@@ -10,7 +14,7 @@ class DecoderNotImplementedException : public DecodingException {
 };
 
 /**
- * @brief Decoding helper method
+ * @brief Decoding helper method.
  * @tparam ObjT The control libraries output type
  * @tparam MsgT The protocol message input type
  * @param message The protocol message object
@@ -19,9 +23,47 @@ class DecoderNotImplementedException : public DecodingException {
 template<typename ObjT, typename MsgT>
 ObjT decoder(const MsgT& message);
 
+/**
+ * @brief Decoding helper method for a RepeatedField message
+ * into vector data.
+ * @tparam FieldT The datatype within the repeated field
+ * @param message A RepeatedField message
+ * @return The decoded vector of data
+ */
+template<typename FieldT>
+std::vector<FieldT> decoder(const google::protobuf::RepeatedField<FieldT>& message);
+
+/**
+ * @brief Decoding helper method for a RepeatedPtrField message
+ * into vector data.
+ * @tparam FieldT The datatype within the repeated field
+ * @param message A RepeatedPtrField message
+ * @return The decoded vector of data
+ */
+template<typename FieldT>
+std::vector<FieldT> decoder(const google::protobuf::RepeatedPtrField<FieldT>& message);
+
+/**
+ * @brief Decoding helper method for the Parameter type.
+ * @tparam ParamT The type contained within the Parameter object
+ * @param message The protocol Parameter message object
+ * @return The decoded control libraries Parameter object
+ */
+template<typename ParamT>
+state_representation::Parameter<ParamT> decoder(const state_representation::proto::Parameter& message);
+
 template<typename ObjT, typename MsgT>
 ObjT decoder(const MsgT&) {
   throw DecoderNotImplementedException("Templated decoder function not implemented!");
 }
 
+template<typename FieldT>
+std::vector<FieldT> decoder(const google::protobuf::RepeatedField<FieldT>& message) {
+  return {message.begin(), message.end()};
+}
+
+template<typename FieldT>
+std::vector<FieldT> decoder(const google::protobuf::RepeatedPtrField<FieldT>& message) {
+  return {message.begin(), message.end()};
+}
 }

protocol/clproto_cpp/include/clproto/encoders.h

@@ -1,6 +1,8 @@
 #pragma once
 
 #include <google/protobuf/repeated_field.h>
+#include <state_representation/parameters/Parameter.hpp>
+#include <state_representation/parameters/parameter.pb.h>
 
 namespace clproto {
 
@@ -10,7 +12,7 @@ class EncoderNotImplementedException : public std::runtime_error {
 };
 
 /**
- * @brief Encoding helper method
+ * @brief Encoding helper method.
  * @tparam MsgT The protocol message output type
  * @tparam ObjT The control libraries input type
  * @param object The control libraries object
@@ -20,24 +22,40 @@ template<typename MsgT, typename ObjT>
 MsgT encoder(const ObjT& object);
 
 /**
- * @brief Encoding helper method for C-style arrays into
- * a RepeatedField message type
+ * @brief Encoding helper method for the Parameter type.
+ * @tparam ParamT The type contained within the Parameter object
+ * @param parameter The control libraries Parameter object
+ * @return The encoded protocol Parameter message object
+ */
+template<typename ParamT>
+state_representation::proto::Parameter encoder(const state_representation::Parameter<ParamT>& parameter);
+
+/**
+ * @brief Encoding helper method for vector data into
+ * a RepeatedField message type.
  * @tparam FieldT The datatype within the repeated field
- * @param data A C-style array of data
- * @param size The length of the data array
+ * @param data A vector of data
  * @return The encoded RepeatedField protocol message object
  */
 template<typename FieldT>
-google::protobuf::RepeatedField<FieldT> encoder(const FieldT* data, std::size_t size);
+google::protobuf::RepeatedField<FieldT> encoder(const std::vector<FieldT>& data);
+
+/**
+ * @brief Encoding helper method for Eigen data into
+ * a RepeatedField message type.
+ * @param matrix An Eigen matrix of data
+ * @return The encoded RepeatedField protocol message object
+ */
+google::protobuf::RepeatedField<double> encoder(const Eigen::MatrixXd& matrix);
 
 template<typename MsgT, typename ObjT>
 MsgT encoder(const ObjT&) {
   throw EncoderNotImplementedException("Templated encoder function not implemented!");
 }
 
 template<typename FieldT>
-google::protobuf::RepeatedField<FieldT> encoder(const FieldT*, std::size_t) {
-  throw EncoderNotImplementedException("Templated encoder function not implemented!");
+google::protobuf::RepeatedField<FieldT> encoder(const std::vector<FieldT>& data) {
+  return google::protobuf::RepeatedField<FieldT>({data.begin(), data.end()});
 }
 
 }